//
// Created by bourne on 2024/6/19.
//
#include <ros/ros.h>
#include "exploration_manager/expl_data.h"
#include "exploration_manager/fast_exploration_manager.h"

using namespace fast_planner;
std::shared_ptr<FastExplorationManager> expl_manager_;

int main(int argc, char** argv)
{
  ros::init(argc,argv,"test_exp_manager");
  ros::NodeHandle nh("~");

  expl_manager_.reset(new FastExplorationManager);
  expl_manager_->initialize(nh);

  int drone_id = expl_manager_->ep_->drone_id_;
  ROS_ERROR_STREAM("[Test] expl_manager " << std::to_string(drone_id) << " init done.");

  ros::spin();
}